a. design example a.1 distillation process
TRANSCRIPT
A.1 Distillation Process
A. Design Example
Reference:[SP05] S. Skogestad and I. Postlethwaite,
Multivariable Feedback Control; Analysis and Design,Second Edition, Wiley, 2005.
[SP05, Sec. 13.4]
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Models: Understand the ProcessSTEP 1. Real Physical System
STEP 2. Ideal Physical Model
STEP 3. Ideal Mathematical Model
STEP 4. Reduced Mathematical Model
Conceptual/Schematic model(図式化・概念化)
Idealization(理想化)
Linearization(線形化)
Product(本物)
Gas
Liquid
BubbleTray
Stage
3
STEP 2. Ideal Physical Model
Reflux flow rate, kmol/min.Boilup from reboiler, kmol/min.
Bottom product rate, kmol/min.Distillate (top product) rate, kmol/min.
Inputs
Outputs
Number of stages: 40
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STEP 3. Ideal Mathematical Model
Tray ’s composition dynamics can be formulated as follows:
where
Liquid holdup on theoretical tray , kmol.
Liquid mole fraction of light component on stage .
Vapor mole fraction of light component on stage .
Feed
Overheadvapor Reflux
Boilup
Bottom Flow
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STEP 4. Reduced Mathematical Model
Then, the whole system can be viewed as a first-order model.
Each tray has its own physical model.
Feed
Overheadvapor Reflux
Boilup
Bottom Flow
Assumptions
• The flow dynamics are immediate.• All trays have the same dynamic responses.
Distillation Process: Problem Statement
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Real Physical System Ideal Physical Model[SP05, pp. 100, 509-514]
: top composition: bottom composition
: reflux: boilup
Controlled Variables
Manipulated Inputs: distillate
: bottom flow: overhead vapor
Assumption • The composition dynamics are usually much slower than the flow dynamics
the simplifying assumption of perfect control of hold up and instantaneous flow responses in the column
Flow RelationshipsTop/Bottom CompositionInputs Outputs
2-Input 2-Output System
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Distillation Process: Plant Model [SP05, pp. 100, 509-514]
influences
Nominal Model
MATLAB CommandN = {87.8, -86.4; 108.2 -109.6};D = [75 1];Pnom = tf(N, D);
Gain Margin :Delay Margin :
Multiplicative (Output) Uncertainty
Distillation Process
Nominal Model
Uncertain Plant Model
[min]
9
Rise time 30 min
Uncertainty Weight
[rad/min]
0.035Gain Crossover
Frequency
1 min
1 rad/min
Performance Weight
Distillation Process: Performance Specifications
rad/min
rad/min
Steady state error < 0.01
rad/min
Delay Margin:
1.0
Gain Margin: 20%, 2dB
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Multivariable Feedback Control
-
-
Multi-Input Multi-Output(MIMO) System
How to design multivariable feedback controllers systematically?
Non-interactionSingle-Input Single-Output(SISO) System -
-
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Distillation Process: SISO Plant Model
Plant
Pole:
Zero: none
Stable System
Minimum Phase System
Re
Im
Frequency Response (Bode Plot) Step Response
0
0.1
0
Frequency [rad/min]
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Distillation Process: SISO Plant Model
Plant:Re
Im
Frequency Response (Bode Plot) Step Response
0
0.1
0
Pole:
time scaling rad/min rad/s
Frequency [rad/min]
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Auto PID tuning algorithm: pidtuneDistillation Process: SISO Controller Design
K = pidtune( Pnom, ‘pidf‘ ) ;L = series( K, P ) ;T = feedback( L, 1 ) ;figure; bode( L ) ;figure; step( T ) ;
PID:
Bode diagram
Step response
MATLAB Command
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-controller
Bode diagram Step response
Perturbed Plant ModelNominal Plant Model
(See 6th lecture)Auto tuning algorithm:
Distillation Process: SISO Plant Model
Frequency [rad/min]
-controller (update)
Bode diagram Step response
(See 6th lecture)Auto tuning algorithm:
Distillation Process: SISO Plant Model
Frequency [rad/min]
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-controller
Bode diagram Step response
Perturbed Plant ModelNominal Plant Model
(Order 11 → 4)(See 6th lecture)
Auto tuning algorithm:Distillation Process: SISO Plant Model
Frequency [rad/min]
-controller (update)
Bode diagram Step response
(Order 11 → 4)(See 6th lecture)
Auto tuning algorithm:Distillation Process: SISO Plant Model
Frequency [rad/min]
Frequency [rad/min]Frequency [rad/min]18
Distillation Process: Evaluate SISO Controller Design*
PID
Complementary SensitivitySensitivity
0.02241 rad/min0.0227 rad/min
-controller
1.01
Mag
nitu
de [d
B]
Mag
nitu
de [d
B]
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Distillation Process: Evaluate SISO Controller Design*Complementary SensitivitySensitivity
-controller
Frequency [rad/min] Frequency [rad/min]
Mag
nitu
de [d
B]
Mag
nitu
de [d
B]
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Control of Multivariable Plants1. Diagonal Controller (decentralized control)
[SP05, pp. 91-93]
-
-
Controller
0
0.1
0
00
Nominal Plant ModelTime delay
0 1.0
NSNP
RPRS
○
×
NSNP
RPRS
○
×
×
×
○ ○
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(Input Uncertainty)
2. Two-step compensator design: dynamic decoupling
-
-
Controller
0
0.1
0
00
Inverse-based controller (decoupling control)
Nominal Plant ModelTime delay
0 1.0
NSNP
RPRS
○
×
×
○
NSNP
RPRS
○
×
×
○
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Inverse-based controller (decoupling control)2. Two-step compensator design: dynamic decoupling
(proper) (proper)
NSNP
RPRS
×
×
×
×
NSNP
RPRS
×
×
×
×
0
0.1
0
00
-
-
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-
Multivariable Feedback Control
(Input Uncertainty)
controller
NSNP
RPRS
○
○
×
○
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Control of Multivariable Plants1. Diagonal Controller (decentralized control)
[SP05, pp. 91-93]
-
-
Controller
0
0.1
0
00
Nominal Plant ModelTime delay
0 1.0
NSNP
RPRS
○
×
NSNP
RPRS
○
×
○
○
○
○
Performance Weight
25
-
Multivariable Feedback Control
(Input Uncertainty)
controller
NSNP
RPRS
○
○
○
○
NSNP
RPRS
○
○
○
○
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Another Example [2]
[2] R.K. Wood and M.W. Berry, “Terminal composition control of a binary distillation column,”Chemical Engineering Science, Vol. 28, No. 9, pp. 1707-1717, 1973.
Column’s diameter: 9inThe number of tray: 8The space of each tray: 12in4 bubble caps are arranged in a square patternand each size is in
(Above distillation column is interfaced with an IBM 1800)A total condenser and basket type reboiler is equipped.
Then, the above distillation process’s model was determined as followsfrom its step response.
where
Distillation of methanol